This research aims to reveal the effective interaction between motors and artificial muscles in vertical jumping, and to increase the jumping height on a humanoid robot by a hybrid drive of motors and artificial muscles. This paper describes the effect of artificial muscle drive on motors in a humanoid robot with a hybrid system of motors and artificial muscles. From the results in this study, it is expected that the artificial muscle drive can reduce the required torque of motor and contribute to an increase in vertical jumping height by setting a faster target trajectory of the joint angles.
